Advanced Embedded Control of Electrohydraulic Power Steering System

The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the devia...
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Autor*in:	Slavov Tsonyo [verfasserIn] Mitov Alexander [verfasserIn] Kralev Jordan [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control

Übergeordnetes Werk:	In: Cybernetics and Information Technologies - Sciendo, 2012, 20(2020), 2, Seite 105-121
Übergeordnetes Werk:	volume:20 ; year:2020 ; number:2 ; pages:105-121

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.2478/cait-2020-0020

Katalog-ID:	DOAJ063048957

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allfields	10.2478/cait-2020-0020 doi (DE-627)DOAJ063048957 (DE-599)DOAJd88ba7c3179a4e3d916b86f3fc94e974 DE-627 ger DE-627 rakwb eng Q300-390 Slavov Tsonyo verfasserin aut Advanced Embedded Control of Electrohydraulic Power Steering System 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system. linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control Cybernetics Mitov Alexander verfasserin aut Kralev Jordan verfasserin aut In Cybernetics and Information Technologies Sciendo, 2012 20(2020), 2, Seite 105-121 (DE-627)862372402 (DE-600)2860325-4 13144081 nnns volume:20 year:2020 number:2 pages:105-121 https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/article/d88ba7c3179a4e3d916b86f3fc94e974 kostenfrei https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/toc/1314-4081 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 2 105-121
spelling	10.2478/cait-2020-0020 doi (DE-627)DOAJ063048957 (DE-599)DOAJd88ba7c3179a4e3d916b86f3fc94e974 DE-627 ger DE-627 rakwb eng Q300-390 Slavov Tsonyo verfasserin aut Advanced Embedded Control of Electrohydraulic Power Steering System 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system. linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control Cybernetics Mitov Alexander verfasserin aut Kralev Jordan verfasserin aut In Cybernetics and Information Technologies Sciendo, 2012 20(2020), 2, Seite 105-121 (DE-627)862372402 (DE-600)2860325-4 13144081 nnns volume:20 year:2020 number:2 pages:105-121 https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/article/d88ba7c3179a4e3d916b86f3fc94e974 kostenfrei https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/toc/1314-4081 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 2 105-121
allfields_unstemmed	10.2478/cait-2020-0020 doi (DE-627)DOAJ063048957 (DE-599)DOAJd88ba7c3179a4e3d916b86f3fc94e974 DE-627 ger DE-627 rakwb eng Q300-390 Slavov Tsonyo verfasserin aut Advanced Embedded Control of Electrohydraulic Power Steering System 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system. linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control Cybernetics Mitov Alexander verfasserin aut Kralev Jordan verfasserin aut In Cybernetics and Information Technologies Sciendo, 2012 20(2020), 2, Seite 105-121 (DE-627)862372402 (DE-600)2860325-4 13144081 nnns volume:20 year:2020 number:2 pages:105-121 https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/article/d88ba7c3179a4e3d916b86f3fc94e974 kostenfrei https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/toc/1314-4081 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 2 105-121
allfieldsGer	10.2478/cait-2020-0020 doi (DE-627)DOAJ063048957 (DE-599)DOAJd88ba7c3179a4e3d916b86f3fc94e974 DE-627 ger DE-627 rakwb eng Q300-390 Slavov Tsonyo verfasserin aut Advanced Embedded Control of Electrohydraulic Power Steering System 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system. linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control Cybernetics Mitov Alexander verfasserin aut Kralev Jordan verfasserin aut In Cybernetics and Information Technologies Sciendo, 2012 20(2020), 2, Seite 105-121 (DE-627)862372402 (DE-600)2860325-4 13144081 nnns volume:20 year:2020 number:2 pages:105-121 https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/article/d88ba7c3179a4e3d916b86f3fc94e974 kostenfrei https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/toc/1314-4081 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 2 105-121
allfieldsSound	10.2478/cait-2020-0020 doi (DE-627)DOAJ063048957 (DE-599)DOAJd88ba7c3179a4e3d916b86f3fc94e974 DE-627 ger DE-627 rakwb eng Q300-390 Slavov Tsonyo verfasserin aut Advanced Embedded Control of Electrohydraulic Power Steering System 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system. linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control Cybernetics Mitov Alexander verfasserin aut Kralev Jordan verfasserin aut In Cybernetics and Information Technologies Sciendo, 2012 20(2020), 2, Seite 105-121 (DE-627)862372402 (DE-600)2860325-4 13144081 nnns volume:20 year:2020 number:2 pages:105-121 https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/article/d88ba7c3179a4e3d916b86f3fc94e974 kostenfrei https://doi.org/10.2478/cait-2020-0020 kostenfrei https://doaj.org/toc/1314-4081 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 2 105-121
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source	In Cybernetics and Information Technologies 20(2020), 2, Seite 105-121 volume:20 year:2020 number:2 pages:105-121
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topic_facet	linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control Cybernetics
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author	Slavov Tsonyo
spellingShingle	Slavov Tsonyo misc Q300-390 misc linear-quadratic gaussian (lqg) controller misc kalman filter misc h∞ controller misc μ-controller misc electrohydraulic steering system misc embedded control misc Cybernetics Advanced Embedded Control of Electrohydraulic Power Steering System
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topic_title	Q300-390 Advanced Embedded Control of Electrohydraulic Power Steering System linear-quadratic gaussian (lqg) controller kalman filter h∞ controller μ-controller electrohydraulic steering system embedded control
topic	misc Q300-390 misc linear-quadratic gaussian (lqg) controller misc kalman filter misc h∞ controller misc μ-controller misc electrohydraulic steering system misc embedded control misc Cybernetics
topic_unstemmed	misc Q300-390 misc linear-quadratic gaussian (lqg) controller misc kalman filter misc h∞ controller misc μ-controller misc electrohydraulic steering system misc embedded control misc Cybernetics
topic_browse	misc Q300-390 misc linear-quadratic gaussian (lqg) controller misc kalman filter misc h∞ controller misc μ-controller misc electrohydraulic steering system misc embedded control misc Cybernetics
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title	Advanced Embedded Control of Electrohydraulic Power Steering System
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title_full	Advanced Embedded Control of Electrohydraulic Power Steering System
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title_sort	advanced embedded control of electrohydraulic power steering system
callnumber	Q300-390
title_auth	Advanced Embedded Control of Electrohydraulic Power Steering System
abstract	The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system.
abstractGer	The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system.
abstract_unstemmed	The article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system.
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title_short	Advanced Embedded Control of Electrohydraulic Power Steering System
url	https://doi.org/10.2478/cait-2020-0020 https://doaj.org/article/d88ba7c3179a4e3d916b86f3fc94e974 https://doaj.org/toc/1314-4081
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up_date	2024-07-03T15:34:03.445Z
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